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* Author: Eitan Marder-Eppstein
*********************************************************************/
#ifndef SBPL_RECOVERY_SBPL_RECOVERY_H_
#define SBPL_RECOVERY_SBPL_RECOVERY_H_

#include <ros/ros.h>
#include <nav_core/recovery_behavior.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <pose_follower/pose_follower.h>
#include <sbpl_lattice_planner/sbpl_lattice_planner.h>
#include <geometry_msgs/PoseStamped.h>
#include <nav_msgs/Path.h>
#include <boost/thread.hpp>
#include <base_local_planner/goal_functions.h>
#include <tf2_ros/buffer.h>

namespace sbpl_recovery
{
  class SBPLRecovery : public nav_core::RecoveryBehavior
  {
    public:
      SBPLRecovery();

      // Initialize the parameters of the behavior
      void initialize (std::string n, tf2_ros::Buffer* tf,
          costmap_2d::Costmap2DROS* global_costmap,
          costmap_2d::Costmap2DROS* local_costmap);

      // Run the behavior
      void runBehavior();

    private:
      void planCB(const nav_msgs::Path::ConstPtr& plan);
      double sqDistance(const geometry_msgs::PoseStamped& p1, 
          const geometry_msgs::PoseStamped& p2);
      std::vector<geometry_msgs::PoseStamped> makePlan();

      costmap_2d::Costmap2DROS* global_costmap_;
      costmap_2d::Costmap2DROS* local_costmap_;
      tf2_ros::Buffer* tf_;
      sbpl_lattice_planner::SBPLLatticePlanner global_planner_;
      pose_follower::PoseFollower local_planner_;
      bool initialized_;
      ros::Subscriber plan_sub_;
      ros::Publisher vel_pub_;
      boost::mutex plan_mutex_;
      nav_msgs::Path plan_;
      double control_frequency_, sq_planning_distance_, controller_patience_;
      int planning_attempts_, attempts_per_run_;
      bool use_local_frame_;
  };

};
#endif
